But that feels terrible if you want to follow them without stopping (or in the case of obstacles, are able to).

Even Ocarina of Time, in 1998, got this right. The Dampe race, which isn't technically an escort, would feel weird if Dampe was too much faster or slower than you, because it would feel unfair. But not everyone moves as fast while playing - some people like rolling, which is a different speed from walking, etc. Also, he throws fireballs at you, and players who are less good at dodging them will end up being slower. So Dampe doesn't "follow you," (in fact, he spends most of the thing in front of you), but he has a rubber band effect. If you get too far behind, he slows down. If you get too far ahead, he speeds up. This does a good job of keeping him in view, which helps give the feeling that you're going at an intended pace, whatever reasonable pace you take. If you're too slow, you will fail, but... it pretty much requires standing still or getting hit by lots of fireballs.

In contrast, the Yunobo escort in BOTW feels terrible casually and even worse to speedrun. He's faster than you walk, but much, MUCH slower than you run. And if you get too far ahead of him? He stops.